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零散的知识
git MERGING 状态解决
12git reset --hard head# 回退到上一步

.msi是二进制安装文件

日志文件重定向，spring的配置文件

.xml或.yml这类文件是配置文件，也就是可以被编程语言识别的东西

git的两种clone方式：

HTTP
SSH


前端调用controller。然后controller处理请求。再调用service处理业务逻辑。

现在基本上所有的互联网公司。都是这么个结构（贫血模型）。
前后端分离。前端发出请求。
前端的请求到controller中。
由controller处理请求并响应。
由service处理业务。
由dao进行数据交互进行分层开发。


相较于VS Code，typora更加简洁，就图片插入和一些markdown设定而言更加快捷。

在WWW上每一条信息都有唯一网络地址，这就是URL


Gitlab 详 ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2020/05/20/2020/002-this_is_my_first_blog/" title="这是我的第一篇文章">     <img class="post_bg" data-lazy-src="https://th.bing.com/th/id/Re01c54f133b1225f50876c55b0415512?rik=eWyxUnJXVRepOQ&amp;riu=http%3a%2f%2fwww.clker.com%2fcliparts%2fC%2fl%2fw%2fw%2f4%2fS%2fyellow-rounded-number-1-md.png&amp;ehk=hNQ30RPv67guRGhEImDRGP4iMDmJMmMcd3jqvxKFjR8%3d&amp;risl=&amp;pid=ImgRaw" onerror="this.onerror=null;this.src='/img/404.png'" alt="这是我的第一篇文章"></a></div><div class="recent-post-info"><a class="article-title" href="/2020/05/20/2020/002-this_is_my_first_blog/" title="这是我的第一篇文章">这是我的第一篇文章</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2020-05-20T20:12:17.000Z" title="Created 2020-05-21 04:12:17">2020-05-21</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E7%BA%AA%E5%BF%B5/">纪念</a></span></div><div class="content">
没有什么好说的，很有趣。
希望未来风调码顺！

</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2020/05/20/2020/001-hello_world/" title="Hello World in the Word of Static Web Page!!!">     <img class="post_bg" data-lazy-src="https://thumbs.dreamstime.com/t/hello-world-program-digital-binary-icon-vector-image-can-also-be-used-software-development-suitable-mobile-apps-web-apps-78729564.jpg" onerror="this.onerror=null;this.src='/img/404.png'" alt="Hello World in the Word of Static Web Page!!!"></a></div><div class="recent-post-info"><a class="article-title" href="/2020/05/20/2020/001-hello_world/" title="Hello World in the Word of Static Web Page!!!">Hello World in the Word of Static Web Page!!!</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2020-05-20T14:00:00.000Z" title="Created 2020-05-20 22:00:00">2020-05-20</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E7%BA%AA%E5%BF%B5/">纪念</a></span></div><div class="content">Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub.
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</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/12/11/2022q4/172-design-idea/" title="【思考】创新点子">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s19313212112022.png" onerror="this.onerror=null;this.src='/img/404.png'" alt="【思考】创新点子"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/12/11/2022q4/172-design-idea/" title="【思考】创新点子">【思考】创新点子</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-12-11T11:08:37.000Z" title="Created 2022-12-11 19:08:37">2022-12-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E4%B8%AA%E4%BA%BA/">个人</a></span></div><div class="content">
  eba4cd21686330597373f08a1e90f7cc8195cdbeccacab59e7bfbdf190a03b1be760f3bb96e5939ec5a2a304c5f320139b5ef45b1115d68228ff7ef3bc5b94fd474e14efcd35dce68f2140c90112feb8f9497975b03c3f3494ff828092435be334c4e92a619a34c603cd6fb01255a3f0a154c4ab4b7f4a5174e43da59aacc513b649cd9aade5d3a125bbe6c1aa33cbdadf695d7807826c7e347d65be2cd5c2fbdebe6138979bac5587c6e525a024bdabd6a7d34aea1a30145d377b24d9e3f44b244a364e869abfdf412d0723b12bddc4b78ae9265d6e4c229c2d9f931dcc5e5f2280beff27bbe5f131d7dd893d643d421364f5d83b51971ef ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/12/11/2022q4/171-other-thought/" title="【思考】其他思考">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s19305112112022.png" onerror="this.onerror=null;this.src='/img/404.png'" alt="【思考】其他思考"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/12/11/2022q4/171-other-thought/" title="【思考】其他思考">【思考】其他思考</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-12-11T11:08:17.000Z" title="Created 2022-12-11 19:08:17">2022-12-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E4%B8%AA%E4%BA%BA/">个人</a></span></div><div class="content">
  eba4cd21686330597373f08a1e90f7cc8195cdbeccacab59e7bfbdf190a03b1becf81c375c6e37be0f14684309e344ab67e3c4d8f778c4d7b2965a10c121dfc54283a3ed48aedad33f7e8ad928b8f49b4285fdb3c276483ece5bff8f6e918c7a6ca54c18517b485e77376e3f1047e9d362364762ca0130b1c993f5926f1ae765197562a388e7de25b7c204fb40847d27379dd8d1d515074712bd6e1cb2e9e3473122438f4dd5b19413b71eab7494a799f4a610395723106e49651fbc0c1f73fa46cec80a84d40762e4f0b16849168b740a5edb87fd7168aca7131e06d6d7f7b53b771bb599681544a96fc4a5061b111537d2403fa0cd16068 ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/12/11/2022q4/170-key-thought/" title="【思考】核心思考">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s19294112112022.png" onerror="this.onerror=null;this.src='/img/404.png'" alt="【思考】核心思考"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/12/11/2022q4/170-key-thought/" title="【思考】核心思考">【思考】核心思考</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-12-11T11:08:06.000Z" title="Created 2022-12-11 19:08:06">2022-12-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E4%B8%AA%E4%BA%BA/">个人</a></span></div><div class="content">
  eba4cd21686330597373f08a1e90f7cc8195cdbeccacab59e7bfbdf190a03b1b33e1ba28b41d7ee18bd19585b165a418b83a47b9a517fb2aa77299dbf722855f83564aace07621ea895b5447d0e34eb6e2bb368a84519b35ce081d0d3df072e9e200bb051054114ac55bfd758b03243c75cf88d25cbd4e643246d0ec8c2c51d0b98130d330152d77e04d6596c5ba4d85e2712cd672a109707e8492b53025e795c2b1fd242c64248903578359aba9fa8ae7559d2f1312e8b626158b415d3b1d2f7961808c24ca02da0ec72bb1ecf7291f122143f30bc116f2172a39d89496394483ed9ac4c1f2dc2b28967325314a16c34b6f63729457b13ef ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/11/28/2022q3/167-2-sp-review/" title="SP Modules Review Contents (3)">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Modules Review Contents (3)"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/28/2022q3/167-2-sp-review/" title="SP Modules Review Contents (3)">SP Modules Review Contents (3)</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-28T07:24:39.000Z" title="Created 2022-11-28 15:24:39">2022-11-28</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content"></div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/11/17/2022q3/166-10-connected-speech-hidden-markov-model/" title="SP Module 10 Connected Speech &amp; HMM Training">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 10 Connected Speech &amp; HMM Training"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/17/2022q3/166-10-connected-speech-hidden-markov-model/" title="SP Module 10 Connected Speech &amp; HMM Training">SP Module 10 Connected Speech &amp; HMM Training</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-17T01:47:12.000Z" title="Created 2022-11-17 09:47:12">2022-11-17</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">From subword units to n-grams: hierarchy of modelsDefining a hierarchy of models: we can compile different HMMs to create models of utterances


 











We can do some pruning, remove some tokens while proceeding, reduce computation cost (Maybe Heuristic is also can be helpful in such case.)
Conditional independence and the forward algorithmWe use the Markov property of HMMs (i.e. conditional independence assumptions) to make computing probabilities of observation sequences easier


HMM tra ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/11/17/2022q3/166-9-The-hidden-markov-model/" title="SP Module 9 the Hidden Markov Model">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 9 the Hidden Markov Model"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/17/2022q3/166-9-The-hidden-markov-model/" title="SP Module 9 the Hidden Markov Model">SP Module 9 the Hidden Markov Model</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-17T01:46:44.000Z" title="Created 2022-11-17 09:46:44">2022-11-17</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Hidden Markov Models for ASRIntro to Hidden Markov Models, comparison to DTW.
dynamic time warping (DTW)
Hidden state sequences and alignmentHidden state sequence, Trellis (i.e. lattice) representation of an HMM, aligning observations to states

grid and lattice

The Viterbi algorithm and token passingThe Viterbi algorithm can be computed on different data structures. The token passing version turns out to be very convenient for ASR.Tthese two different implementations are simply two different w ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/11/16/2022q3/166-8-sp-feature-engineering/" title="SP Module 8 Feature Engineering">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 8 Feature Engineering"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/16/2022q3/166-8-sp-feature-engineering/" title="SP Module 8 Feature Engineering">SP Module 8 Feature Engineering</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-16T12:24:39.000Z" title="Created 2022-11-16 20:24:39">2022-11-16</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Gaussian distributions in modelsClassification model
If features are highly correlate with each other, we can solve this correlation by rotating the axis, by PCA.
Gaussian distribution of classification result of feature vector
Decision boundary
Cepstral Analysis, Mel-FilterbanksWe now start thinking about what a good representation of the acoustic signal should be, motivating the use Mel-Frequency Cepstral Coefficients (MFCCs).

Since the feature in a feature vector is correlated, if we want to ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/11/10/2022q3/164-12-motion-planing-problem/" title="MOB LEC12 Motion Planning">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC12 Motion Planning"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/10/2022q3/164-12-motion-planing-problem/" title="MOB LEC12 Motion Planning">MOB LEC12 Motion Planning</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-10T03:14:39.000Z" title="Created 2022-11-10 11:14:39">2022-11-10</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Mission, scenarios and behaviorsTask: Navigate the robot itself from the current position to final destination on the map, without human intervention.
Goal: find most efficient path (trajectory) in terms of time or distance travelled.








Example Common Behavior Sets

Speed tracking
Deceleration to stop
Stay stopped
Yield
Emergency stop


Motion planning constraints

Read more about vehicle dynamic.












Objective functions in planning




Supplementary Readings
Motion Planning For Au ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/11/09/2022q3/166-7-sp-pattern-matching/" title="SP Module 7 Pattern Matching">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 7 Pattern Matching"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/09/2022q3/166-7-sp-pattern-matching/" title="SP Module 7 Pattern Matching">SP Module 7 Pattern Matching</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-09T18:19:56.000Z" title="Created 2022-11-10 02:19:56">2022-11-10</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Cochlea, Mel-Scale, FilterbanksFrom human speech perception to considerations for features for automatic speech recognition

CochleaDifferent places along the cochlea respond to the incoming frequency.



Mel scaleNonlinearity in hertz scale, linear in mal scale, for cochlea.



Filter banksSimplify of cochlea is like a bank of bandpass filters.lower frequency limit and higher frequency limit.

Wider and wider in higher frequency. triangular filters is more appropriate than the rectangle one sho ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/11/03/2022q3/166-6-2-sp-prosody-extension/" title="SP Module 6 Prosody">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 6 Prosody"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/11/03/2022q3/166-6-2-sp-prosody-extension/" title="SP Module 6 Prosody">SP Module 6 Prosody</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-11-03T04:06:03.000Z" title="Created 2022-11-03 12:06:03">2022-11-03</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Connected and Citation SpeechConnected speech differs from the citation form.





Connected Speech ProcessesConnected speech forms are highly variable as the result of a number of processes that apply to consonants and vowels.
















Prosodic StructureProsody is the combination of speech properties that break speech into units of time, indicate the boundaries of those units, and highlight certain constituents.


A constituent is a word or a group of words that function as a single unit ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/31/2022q3/167-1-sp-review/" title="SP Modules Review Contents (2)">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Modules Review Contents (2)"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/31/2022q3/167-1-sp-review/" title="SP Modules Review Contents (2)">SP Modules Review Contents (2)</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-31T09:17:36.000Z" title="Created 2022-10-31 17:17:36">2022-10-31</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Module 5 TTS front-end
We want to generate speech that is

Intelligible: you can clearly perceive what words are being said
Natural: sounds like human speech
Appropriate: conveys the right meaning in a specific context



Front-end: Analyze text, generate a linguistic specification of what to actually generate
Front-end purpose: derive a linguistic specification from text that includes the necessary information to generate speech


Back-end: Waveform generation from the linguistic specification
 ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/31/2022q3/164-11-occupency-grid-and-maps/" title="MOB LEC11 Mapping and Occupancy Grid">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC11 Mapping and Occupancy Grid"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/31/2022q3/164-11-occupency-grid-and-maps/" title="MOB LEC11 Mapping and Occupancy Grid">MOB LEC11 Mapping and Occupancy Grid</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-31T03:14:23.000Z" title="Created 2022-10-31 11:14:23">2022-10-31</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Occupancy grid


Occupancy Map Calculus

Practicle issues of Occupancy map

Inverse Measurement Model




Downsampling for lidar



Other Type of Map





Supplementary Readings
Note of Occupancy Maps. (MUST READ)
Lanelets: Efficient Map Representation for Autonomous Driving. (Optional)
Probabilistic robotics. Read Chapter 9 - Occupancy Grid Mapping for an overview of how occupancy grids are generated


Origin: Dr. Chris Lu (Homepage)Translate + Edit: YangSier (Homepage)

:four_leaf_clover:碎碎念:f ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/27/2022q3/164-10-lidar-point-cloud-and-iterative-closest-point/" title="MOB LEC10 LIDAR, Point Cloud and Iterative Closest Points">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC10 LIDAR, Point Cloud and Iterative Closest Points"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/27/2022q3/164-10-lidar-point-cloud-and-iterative-closest-point/" title="MOB LEC10 LIDAR, Point Cloud and Iterative Closest Points">MOB LEC10 LIDAR, Point Cloud and Iterative Closest Points</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-27T03:06:39.000Z" title="Created 2022-10-27 11:06:39">2022-10-27</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">LiDAR


LiDAR calculus





State Estimation via Point Set RegressionProblem define

ICP Algorithm










Origin: Dr. Chris Lu (Homepage)Translate + Edit: YangSier (Homepage)

:four_leaf_clover:碎碎念:four_leaf_clover:Hello米娜桑，这里是英国留学中的杨丝儿。我的博客的关键词集中在编程、算法、机器人、人工智能、数学等等，点个关注吧，持续高质量输出中。:cherry_blossom:唠嗑QQ群：兔叽的魔术工房 (942848525):star:B站账号：杨丝儿Online（活跃于知识区和动画区）

</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/24/2022q3/164-9-reference-frames-and-GPS/" title="MOB LEC9 Reference Frames and GPS">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC9 Reference Frames and GPS"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/24/2022q3/164-9-reference-frames-and-GPS/" title="MOB LEC9 Reference Frames and GPS">MOB LEC9 Reference Frames and GPS</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-24T04:07:03.000Z" title="Created 2022-10-24 12:07:03">2022-10-24</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">The coordinate systems in mobile robotics
world coordinate system
ego-vehicle coordinate system



Rigid Body AssumptionRigid Body is a solid body in which deformation is zero or so small it can be neglected.

rigid body assumption implied that movement of a sensor mounted on the robot should be the same as other co-located sensors and the whole platform.
Motion in generalMotion that can be described by a rotation and translation. There are 6 degree of freedom (DoF) in 3D space for rigid body.

 ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/22/2022q3/166-6-1-speech-synthesis-waveform-generation-and-connected-speech/" title="SP Module 6 Speech Synthesis – Waveform Generation and Connected Speech">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 6 Speech Synthesis – Waveform Generation and Connected Speech"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/22/2022q3/166-6-1-speech-synthesis-waveform-generation-and-connected-speech/" title="SP Module 6 Speech Synthesis – Waveform Generation and Connected Speech">SP Module 6 Speech Synthesis – Waveform Generation and Connected Speech</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-22T04:52:08.000Z" title="Created 2022-10-22 12:52:08">2022-10-22</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">DiphonePhones are not a suitable unit for waveform concatenation, so we used diphones, which capture co-articulation.
Diphone starts at the middle of one phone and ends at the middle of the other.
Coarticulation is the overlapping of adjacent articulations or the influence of the target phoneme on surrounding phonemes. Middles of phones are more stable in their spectral properties than the edges, because of coarticulation. So, concatenating diphones should lead to smoother joins


Waveform conca ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/20/2022q3/166-5-speech-synthesis%E2%80%93phonemes-and-the-front-end/" title="SP Module 5 Speech Synthesis – Phonemes and the Front End">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 5 Speech Synthesis – Phonemes and the Front End"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/20/2022q3/166-5-speech-synthesis%E2%80%93phonemes-and-the-front-end/" title="SP Module 5 Speech Synthesis – Phonemes and the Front End">SP Module 5 Speech Synthesis – Phonemes and the Front End</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-20T03:43:13.000Z" title="Created 2022-10-20 11:43:13">2022-10-20</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Tokenisation &amp; normalisation标签化 &amp; 正则化
When processing almost any text, we need to find the words. This involves splitting the input character sequence into tokens and normalising each token into words.


Handwritten rulesEvery user of a language holds a lot of knowledge about that language in their mind. One way to capture and make use of that knowledge is in the form of rules.
Finite state transducerFinite State Transducers provide general-purpose machinery for rewriting an input sequen ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/20/2022q3/164-8-Recursive-and-Kalman-filter/" title="MOB LEC8 Recursive and Kalman Filter">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC8 Recursive and Kalman Filter"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/20/2022q3/164-8-Recursive-and-Kalman-filter/" title="MOB LEC8 Recursive and Kalman Filter">MOB LEC8 Recursive and Kalman Filter</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-20T03:18:00.000Z" title="Created 2022-10-20 11:18:00">2022-10-20</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Prerequisite knowledgestates of mobile robot, motion model, position orientation and velocity,
More challenge see: GPS
Kalman FilterPredict, measure, combining
Prediction and correction
Linear Kalman Filter
Recursive Least Squares + Process Model
Extended Kalman FilterLinear approximation, first-order term, still linear.
Linearized motion model, Linearized measurement model.
Jacobian matrix

Limitation of Kalman Filter


Summary
The Kalman Filter is very similar to RLS but includes a motion mode ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/20/2022q3/164-7-Semantic-Segmentation/" title="MOB LEC7 Semantic Segmentation">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC7 Semantic Segmentation"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/20/2022q3/164-7-Semantic-Segmentation/" title="MOB LEC7 Semantic Segmentation">MOB LEC7 Semantic Segmentation</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-20T03:17:27.000Z" title="Created 2022-10-20 11:17:27">2022-10-20</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Problem Formulationpixel-level prediction
Challenge of Semantic Segmentation
General vision challenges: occlusion, truncation, scale and illumination changes



Challenges specific to segmentation: smooth boundaries are hard to obtain due to the intrinsic ambiguity and resolution limitation in the image space.


Segmentation with DNN


Semantic Segmentation for Scene Understanding
RANSAC algorithm
boundaries
Additional materialTrue Positive, False Positive, False Negative
individual object
help  ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/19/2022q3/167-0-sp-review/" title="SP Modules Review Contents">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Modules Review Contents"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/19/2022q3/167-0-sp-review/" title="SP Modules Review Contents">SP Modules Review Contents</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-19T01:49:13.000Z" title="Created 2022-10-19 09:49:13">2022-10-19</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Module 1: Phonetics and Representations of SpeechSystems in Speech ProductionSpeech production involves three systems in the body: the respiratory system, the phonation system, and the articulation system (Figure 1.2).

The Respiratory SystemThe respiratory system supplies the air needed to initiate speech sounds (see Figure 1.3). It consists of parts of the body that allow us to breathe, including the lungs, the diaphragm, the muscles of the rib cage, and the abdominal muscles.

The Phonation S ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/18/2022q3/166-4-the-source-filter-model/" title="SP Module 4 the Source-Filter Model">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s11220010012022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="SP Module 4 the Source-Filter Model"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/18/2022q3/166-4-the-source-filter-model/" title="SP Module 4 the Source-Filter Model">SP Module 4 the Source-Filter Model</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-18T09:46:47.000Z" title="Created 2022-10-18 17:46:47">2022-10-18</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">HarmonicsIn the frequency domain, periodic signals have harmonic structure: they contain energy only at multiples of their fundamental frequency.
Voice sounds different from unvoiced sounds, has repeating pattern, in periodicity. So, the peak of the sound in the frequency domain is clear to observe.

Impulse trainAn impulse train is the simplest periodic signal that has energy at all multiples of its fundamental frequency (and energy are evenly distributed).

Spectral envelopeVarying the shape o ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/11/2022q4/168-4-The-human-element/" title="PI Week6 the Human Element 施工中~">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s07171809222022.png?imageView2/2/h/400" onerror="this.onerror=null;this.src='/img/404.png'" alt="PI Week6 the Human Element 施工中~"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/11/2022q4/168-4-The-human-element/" title="PI Week6 the Human Element 施工中~">PI Week6 the Human Element 施工中~</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-11T06:49:33.000Z" title="Created 2022-10-11 14:49:33">2022-10-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Introduction
This week we continue the theme of looking at general kinds of harm technology can cause if we’re not careful with it.
The topic we’re looking at is one that, with a few exceptions, gets a lot less press I think than bias because it’s a lot harder to quantify (and as established in week 1, computer scientists love quantitative data)
That topic is human beings, and specifically what we might unintentionally affect when we remove people from a system, or at least change their involvem ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/11/2022q4/168-3-bias-and-fairness/" title="PI Week5 Bias and Fairness 施工中~">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s07171809222022.png?imageView2/2/h/400" onerror="this.onerror=null;this.src='/img/404.png'" alt="PI Week5 Bias and Fairness 施工中~"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/11/2022q4/168-3-bias-and-fairness/" title="PI Week5 Bias and Fairness 施工中~">PI Week5 Bias and Fairness 施工中~</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-11T06:49:05.000Z" title="Created 2022-10-11 14:49:05">2022-10-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Introduction
We’ve covered some important background concepts in talking about Responsibility, Power and Data. The idea behind these has been to motivate some of why we should be interested in ethics in computer science, and why we are often going to be at least partially responsible for anticipating and mitigating harms that technical artifacts can bring about.
For this middle portion of the course, we are looking at some broad categories of harm (some of the Data readings begun this process).  ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/11/2022q4/168-2-data-justice/" title="PI Week4 Data Ownership 施工中~">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s07171809222022.png?imageView2/2/h/400" onerror="this.onerror=null;this.src='/img/404.png'" alt="PI Week4 Data Ownership 施工中~"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/11/2022q4/168-2-data-justice/" title="PI Week4 Data Ownership 施工中~">PI Week4 Data Ownership 施工中~</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-11T06:48:28.000Z" title="Created 2022-10-11 14:48:28">2022-10-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">The increasing availability of digital data reflecting economic and human development, and in particular the availability of data emitted as a by-product of people’s use of technological devices and services, has both political and practical implications for the way people are seen and treated by the state and by the private sector. Yet the data revolution is so far primarily a technical one: the power of data to sort, categorise and intervene has not yet been explicitly connected to a social ju ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/11/2022q4/168-1-power/" title="PI Week3 Power 施工中~">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s07171809222022.png?imageView2/2/h/400" onerror="this.onerror=null;this.src='/img/404.png'" alt="PI Week3 Power 施工中~"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/11/2022q4/168-1-power/" title="PI Week3 Power 施工中~">PI Week3 Power 施工中~</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-11T06:47:54.000Z" title="Created 2022-10-11 14:47:54">2022-10-11</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Definition
Your ability to see your will made manifest in the world.

Explanation
If you want to do something, how easy is it for you to do it. To naively put this in informatics terms, you could think of it as the weight associated with a person’s node in a network.
Because we live in a world of systems (political, legal, cultural, organisational, social), a lot of that is tied up in how those system are designed. And a lot of that is dependent on who they were designed for, or by. Because, int ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/10/2022q4/168-0-responsibility/" title="PI Week2 Responsibility">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s07171809222022.png?imageView2/2/h/400" onerror="this.onerror=null;this.src='/img/404.png'" alt="PI Week2 Responsibility"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/10/2022q4/168-0-responsibility/" title="PI Week2 Responsibility">PI Week2 Responsibility</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-10T06:40:48.000Z" title="Created 2022-10-10 14:40:48">2022-10-10</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">ResponsibilityDefinition
Responsibility is an assigning of roles by some larger section of society.

Explanation
We are talking about responsibility as the degree to which individuals or groups are accountable for actions, events, or other changes in the world.
This might mean attributing a certain amount of praise or blame to those agents for those actions.
But also it means attributing an imperative to them that they should be thinking about possible actions within some domain.



Example case ...</div></div></div><div class="recent-post-item"><div class="post_cover left_radius"><a href="/2022/10/10/2022q3/164-6-object-detection/" title="MOB LEC6 Object Detection">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC6 Object Detection"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/10/2022q3/164-6-object-detection/" title="MOB LEC6 Object Detection">MOB LEC6 Object Detection</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-10T03:00:05.000Z" title="Created 2022-10-10 11:00:05">2022-10-10</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">Challenge of object detectionnot fully observed, scale distraction, illumination changes.
Basic conceptsbounding box and class labels,

intersection of union (IoU)
See more at: Evaluationg Mateics

2D Object Detection Steps (inference)feature extractor, computationally expensive, lower widthe and height, greater depth

Prior bounding boxes, or anchor bounding boxes, assume bounding boxes, then guess where and how large they are.
centroid location (where), box dimensions (size)



Every pixel in  ...</div></div></div><div class="recent-post-item"><div class="post_cover right_radius"><a href="/2022/10/06/2022q3/164-5-FNN/" title="MOB LEC5 Feed Forward Neural Network">     <img class="post_bg" data-lazy-src="https://image.discover304.top/blog-img/s21513409222022.png?imageView2/2/h/300" onerror="this.onerror=null;this.src='/img/404.png'" alt="MOB LEC5 Feed Forward Neural Network"></a></div><div class="recent-post-info"><a class="article-title" href="/2022/10/06/2022q3/164-5-FNN/" title="MOB LEC5 Feed Forward Neural Network">MOB LEC5 Feed Forward Neural Network</a><div class="article-meta-wrap"><span class="post-meta-date"><i class="far fa-calendar-alt"></i><span class="article-meta-label">Created</span><time datetime="2022-10-06T03:39:03.000Z" title="Created 2022-10-06 11:39:03">2022-10-06</time></span><span class="article-meta tags"><span class="article-meta__separator">|</span><i class="fas fa-tag article-meta__icon"></i><a class="article-meta__tags" href="/tags/%E5%AD%A6%E4%B9%A0/">学习</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%9F%A5%E8%AF%86/">知识</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%A7%AF%E7%B4%AF/">积累</a><span class="article-meta__link">•</span><a class="article-meta__tags" href="/tags/%E7%AC%94%E8%AE%B0/">笔记</a></span></div><div class="content">
Since most material has been covered in previous blogs, I will go through this lecture contents in brief.

Brief overview














More ContentsActivation function example
Task example
For classification we have: 

Softmax output layer
Cross-entropy Loss function

For regression we have:

Linear output layer
Mean square error lLoss function

Supplement reading
LeCun, Yann, Yoshua Bengio, and Geoffrey Hinton. “Deep learning.” nature 521.7553 (2015):436-444.
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